Path Following and Obstacle Avoidance Using Virtual Target-based Guidance
Gautam Kumar, Ashwini Ratnoo · 2025
This paper presents a path following approach for an uncrewed aerial vehicle (UAV) in the presence of a static obstacle. The UAV uses a tangential guidance logic with a modified lateral acceleration command to follow a virtual target tracing a desired path. Geometric obstacle avoidance strategy is proposed and incorporated into the path following logic for avoiding a static obstacle. The key highlight of the paper is the straight and circular path following while avoiding a static obstacle along the reference path. Numerical simulations are carried out to validate the proposed strategy for straight and circular path following in the presence of an obstacle.